If you are interested in building your very own full instructions on how to combine the Arduino CNC shield and Arduino code for controlling the to DC servo motors have been kindly published to the ...

An Arduino is used to determine the servo’s current position versus the desired position, and it turns the motor accordingly with a BTS7960 motor driver.

Servo moves smoothed - this could be an interesting one if you work with robotics. And it is flagged by the Arduino team.